Search NASA⌕ Search

SEARCH · Search NASA

Results for “Workspaces”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

Visual direction as a metric of virtual space

Two experiments examine the abilities of ten subjects to visualize directions shown on a perspective display. Subjects indicated their perceived directions by adjusting a head-mounted cursor to correspond to the direction depicted on the display. This task is required of telerobotic operators who use map-like pictures of their workspace to determine the direction of objects seen by direct view. Results show significant open loop judgment biases that may be composed of errors arising from misinterpretation of the map geometry and overestimation of gaze direction.

Ellis, Stephen R.↗

Precise positioning and compliance synthesis for automatic assembly using Lorentz levitation

Many manufacturing assembly tasks require fine compliant motion and fast, accurate positioning. Conventional robots perform poorly in these tasks because of their large mass, friction and backlash in gears, cogging in drive motors and other deleterious effects. Even robots equipped with special control systems enabling compliant operation offer only partial solutions. It is difficult or impossible to automate many product assemblies requiring fine, compliant motion. This problem can be greatly alleviated by dividing the manipulation system into coarse and fine domains. In this scenario, a standard industrial robot can serve as a coarse positioner which in turn carries a six degrees of freedom fine motion wrist. Thus the robot can access a workspace measured in meters at low bandwidth and low resolution while the wrist can move over millimeters at high bandwidth and high resolution during the final phase of the assembly operation. Work indicates that fine motion wrists using Lorentz levitation can greatly augment the accuracy and dexterity of robots because they are frictionless, have high bandwidths and have a single back drivable moving part. Also, since there is no contact between the moving and stationary parts, wear and contamination can be eliminated. The use of six Lorentz force actuators in combination with real time position and orientation sensing offers several important advantages over magnetic bearing approaches.

Hollis, R. L.↗

Obstacle avoidance for redundant robots using configuration control

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Seraji, Homayoun↗

Navigating through large display networks in dynamic control applications

Special display navigation challenges in computer-based display systems for monitoring and controlling dynamic processes are reviewed. Particular attention is given to trends in information technology, workspace design, and paradigmatic cognitive functions related to display navigation.

Woods, David D.↗

Task decomposition for a multilimbed robot to work in reachable but unorientable space

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Su, Chau↗

Experiments in robotic catching

Real-time coordination of visual information with high-speed manipulator control is studied in the context of three-dimensional robotic catching. All path planning for the catch occurs in real-time during the half-second that the targeted object is airborne. A trajectory-matching algorithm is used that combines an observer with a varying-strength filter, an error estimator, and an initial motion algorithm. The results are demonstrated experimentally using a real-time vision system and a four-degree-of-freedom, cable-driven arm with a workspace of 4.2 m3 and speed capabilities of up to 2.0 m/s.

Hove, Barbara↗

Teleoperator performance in simulated Solar Maximum Satellite repair

An investigation is conducted of the relative benefits of different teleoperator control modes in simulated space servicing. The simulation replicates part of the Solar Maximum EVA Satellite Repair (SMSR) mission of STS-13, in 1974. The formal experimental design and statistical analysis presented demonstrates that position control is superior for small workspace volume management. Quantitative studies demonstrate significant benefits of shared Cartesian control modes for contact tasks; good performance will require the systematic analysis and synthesis of man-machine systems.

Schenker, Paul S.↗

On an adaptive truss manipulator space crane concept

The paper describes an adaptive truss manipulator (ATM) space crane concept for in-space assembly and construction. The underlying mechanism of an ATM is that the batten members of the constituent octahedral modules are controllable in length. Through geometric transformations of the constituent modules, the basic manipulator functions such as articulation can be performed by the ATM. The mechanism can also provide deployment/retraction, high dexterity motion, and bracing operation. The advantages of an ATM over the conventional multijoint-multilink anthropomorphic manipulator are its compact stowage volume for in-space storage and mobility, deployment as needed, high dexterity in complex workspace, and high redundancy of the actuator function. The kinematic description of an ATM is formulated in the global cartesian coordinate system.

Chen, Gun-Shing↗

Movable Cameras And Monitors For Viewing Telemanipulator

Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.

Diner, Daniel B.↗

Robot-Control Station Would Adapt To Operator

Proposed control station for remote robot adapts control system to personal characteristics and preferences of operator. Automatically adjusts positions and angles of video cameras and monitors, adjusts characteristics of hand controller, process images, and provides graphical displays serving operator best. System of one or more video cameras, controlled by computer, views workspace of robot, as shown in article, "Movable Cameras and Monitors For Viewing Telemanipulator" (NPO-17837). Control station includes several video monitors, hand controller, image-processing system providing graphical displays, voice-input command system, keyboards, and mouse.

Diner, Daniel B.↗

Extended-Task-Space Control For Robotic Manipulators

Extended-task-space concept provides unified approach for control of both redundant and nonredundant manipulators: theoretical framework for complete description of set of mechanism commands in terms of task-space commands, and singularity-avoidance scheme providing robustness at and near singular points of workspace while not degrading performance in nonsingular regions.

Backes, Paul G.↗

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Mann, R. C.↗

Manipulation strategies for massive space payloads

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed.

Book, Wayne J.↗

Numerical analysis of nonminimum phase zero for nonuniform link design

As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development.

Girvin, Douglas L.↗

ROBOSIM: An intelligent simulator for robotic systems

The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year).

Fernandez, Kenneth R.↗

Regolith-structure modeling

Early lunar missions have provided a basic understanding of the physical and strength properties of lunar regolith, which have been shown to differ from those of dry terrestrial granular soils. Lunar regolith is predominantly a fine sand of which nearly 40 percent can be characterized as silt with a particle size smaller than 100 micrometers. The top 10 to 20 cm of the regolith can be characterized as being in a loose to medium-loose state. The density of the regolith, however, rapidly increases below a depth of 20 cm. The highly irregular and angular shapes of the regolith particles tend to interlock and create relatively strong mechanical bonds that give the particulate mass substantial cohesive properties and smaller amounts of tensile strength properties. In addition, the friction angle of lunar regolith at medium to high densities is quite high and often exceeds 55 degrees. These known properties of lunar regolith have been matched in a terrestrially-manufactured analog known as Minnesota Lunar Simulant. A variety of experiments were conducted using this simulant to both verify existing information and generate new information on the physical and constitutive properties of lunar regolith. These experiments include maximum and minimum density determinations, specific mass of solids, grain-size distribution, conventional triaxial compression and extension, isotropic compression, one-dimensional compression, direct shear, and direct tension. Direct shear experiments were conducted under atmospheric and vacuum conditions. Results of the physical and strength experiments compare closely to results obtained from lunar missions. Results of simulant strength experiments performed in vacuum indicated no observable difference from results obtained in air. A test bed currently under study is one involving a regolith shield covering a first-generation human habitat module. It is understood that regolith in depths ranging from 3 to 5 meters is required for radiation shielding for habitation and workspace. The habitat module is treated as a rigid cylindrical tube with a smooth exterior. By making the cylinder rigid, a complex interaction problem is reduced to a situation where we can consider the support regolith and the shielding regolith as behaving independently of the structural properties of the cylindrical structure. Medium-dense lunar simulant was placed around a scaled model of the habitat module to provide a radiation shield. This embankment-type shield was constructed in relatively thin but fine layers by compacting, by mechanical vibratory means, layer upon layer of simulant placed adjacent to the horizontally-aligned cylinder. The slope angles were constructed at 55 degrees. The model described above was studied in a geotechnical centrifuge, which allows for the scaling of model dimensions to prototype dimensions by increasing the acceleration of gravity on the model. The deformation response can be scaled up to prototype dimensions to provide an assessment of the deformation patterns of the lunar structure. The actual process of local and/or global growth of instabilities or skip planes can also be observed.

Ko, Hon-Yim↗

Calculating potential fields using microchannel spatial light modulators

We describe and present experimental results of the optical calculation of potential field maps suitable for mobile robot navigation. The optical computation employs two write modes of a microchannel spatial light modulator (MSLM). In one mode, written patterns expand spatially, and this characteristic is used to create an extended two dimensional function representing the influence of the goal in a robot's workspace. Distinct obstacle patterns are written in a second, non-expanding, mode. A model of the mechanisms determining MSLM write mode characteristics is developed and used to derive the optical calculation time for full potential field maps. Field calculations at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Reid, Max B.↗